In a small bowl, whisk together soy sauce, honey, rice vinegar, sesame oil, garlic, and ginger.
Heat a large skillet over medium-high heat and add a little oil.
Add the chicken pieces and cook until golden brown and fully cooked, about 5-7 minutes.
Pour the teriyaki sauce over the chicken and bring to a simmer.
Stir in the cornstarch mixture to thicken the sauce.
Add bell peppers, broccoli, and carrots, and cook for another 3-4 minutes until tender-crisp.
Remove from heat and garnish with sesame seeds and green onions.
Serve hot over cooked rice.